diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index 41b6e10..a4a260a 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -232,7 +232,7 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed)
     while (norm_rotation < -180.0f) {
         norm_rotation += 360.0f;
     }
-    float threshold = 90.0f;
+    float threshold = 110.0f;
     float target_single=fmodf(target_angle,360.0f);
     if(target_single<0.0f) target_single+=360.0f;
 
@@ -241,15 +241,15 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed)
 
 
     if (fabsf(norm_rotation) > threshold) {
-        int32_t round_diff = (int32_t)(target_angle / 360.0f) - (int32_t)(actual_angle / 360.0f);
+        int32_t round_diff = (int32_t)((target_angle-actual_angle) / 360.0f);
         *angle = actual_angle + norm_rotation-180.0f+round_diff*360.0f;
         *speed = -(*speed);
     }else if(norm_rotation<-threshold){
-        int32_t round_diff = (int32_t)(target_angle / 360.0f) - (int32_t)(actual_angle / 360.0f);
+        int32_t round_diff = (int32_t)((target_angle-actual_angle) / 360.0f);
         *angle = actual_angle + norm_rotation+180.0f+round_diff*360.0f;
         *speed = -(*speed);
     }
-    ANGLE_LIMIT_360_TO_180_ABS(*angle);
+    // ANGLE_LIMIT_360_TO_180_ABS(*angle);
     // float rotation = *angle - *last_angle;
     // ANGLE_LIMIT_360_TO_180_ABS(rotation);
     // if (rotation > 90) {
diff --git a/application/robot_def.h b/application/robot_def.h
index ef05828..d6f12aa 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -26,7 +26,7 @@
 
 /* 机器人重要参数定义,注意根据不同机器人进行修改,浮点数需要以.0或f结尾,无符号以u结尾 */
 // 云台参数
-#define YAW_CHASSIS_ALIGN_ECD 8015  // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
+#define YAW_CHASSIS_ALIGN_ECD 8192  // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
 #define YAW_ECD_GREATER_THAN_4096 0 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度
 #define PITCH_HORIZON_ECD 3412      // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
 #define PITCH_MAX_ANGLE 0           // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)